A Unifying Approach to Efficient (Near-)Gathering of Disoriented Robots with Limited Visibility 
J. Castenow, J. Harbig, D. Jung, P. Kling, T. Knollmann, F. Meyer auf der Heide, in: E. Hillel, R. Palmieri, E. Riviére (Eds.), Proceedings of the 26th International Conference on Principles of Distributed Systems (OPODIS) , Schloss Dagstuhl – Leibniz Zentrum für Informatik, Brussels, 2023, p. 15:1–15:25.